Two-armed robot systems-a review of current theory and thedevelopment of algorithms for real-time collision avoidance

摘要

The applications of two-armed robots is discussed and a reviewncarried out of the main control methods. The teleoperation of roboticnsystems is then discussed and the need for good operator visualisationncoupled with minimum work load was identified as the key to systemnefficiency. The collision problem is discussed and the method ofndetecting and avoiding collisions are presented. The authors alsonidentify the need for a real-time collision avoidance system suitablenfor two co-operating teleoperated arms, and develop a kinematics basednmodelling scheme which could be used for collision detection andnavoidance